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Miscellaneous cleanups for HAL, wpilibc, and wpilibj JNI (#589)

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* Static functions in the HAL implementation were placed in the hal namespace
* "using namespace" declarations in HAL/cpp/Log.h and Timer.cpp were replaced
  with "using" declarations for std::chrono
* An extra include was removed from AnalogGyro.cpp
* InterruptableSensorBase's constructor was defaulted
* Newlines were added to some wpilibc integration tests for grouping
* A variable in HALUtil.h was renamed to follow the style guide

Supersedes #586
This commit is contained in:
Tyler Veness
2017-08-07 17:36:34 -07:00
committed by Peter Johnson
parent 5e19c1881f
commit d682295ccd
16 changed files with 105 additions and 20 deletions
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30
wpilibcIntegrationTests/src/MotorInvertingTest.cpp
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@@ -38,6 +38,7 @@ class MotorInvertingTest
protected:
SpeedController* m_speedController;
Encoder* m_encoder;
void SetUp() override {
switch (GetParam()) {
case TEST_VICTOR:
@@ -59,6 +60,7 @@ class MotorInvertingTest
break;
}
}
void TearDown() override {
delete m_speedController;
delete m_encoder;
@@ -73,54 +75,82 @@ class MotorInvertingTest
TEST_P(MotorInvertingTest, InvertingPositive) {
Reset();
m_speedController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Positive value does not change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingNegative) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() != initDirection)
<< "Inverting with Negative value does not change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingSwitchingPosToNeg) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";
Reset();
}
TEST_P(MotorInvertingTest, InvertingSwitchingNegToPos) {
Reset();
m_speedController->SetInverted(false);
m_speedController->Set(-motorSpeed);
Wait(delayTime);
bool initDirection = m_encoder->GetDirection();
m_speedController->SetInverted(true);
m_speedController->Set(motorSpeed);
Wait(delayTime);
EXPECT_TRUE(m_encoder->GetDirection() == initDirection)
<< "Inverting with Switching value does change direction";
Reset();
}
INSTANTIATE_TEST_CASE_P(Test, MotorInvertingTest,
testing::Values(TEST_VICTOR, TEST_JAGUAR, TEST_TALON));